The Wilson loop from a Dyson equation

The Dyson equation proposed for planar temporal Wilson loops in the context of supersymmetric gauge theories is critically analysed thereby exhibiting its ingredients and approximations involved. We reveal its limitations and identify its range of applicability in non-supersymmetric gauge theories. In particular, we show that this equation is applicable only to strongly asymmetric planar Wilson loops (consisting of a long and a short pair of loop segments) and as a consequence the Wilsonian potential can be extracted only up to intermediate distances. By this equation the Wilson loop is exclusively determined by the gluon propagator. We solve the Dyson equation in Coulomb gauge for the temporal Wilson loop with the instantaneous part of the gluon propagator and for the spatial Wilson loop with the static gluon propagator obtained in the Hamiltonian approach to continuum Yang-Mills theory and on the lattice. In both cases we find a linearly rising color potential.Comment: 12 pages, 7 figure

QCD effective action with a most general homogeneous field background

We consider one-loop effective action of SU(3) QCD with a most general constant chromomagnetic (chromoelectric) background which has two independent Abelian field components. The effective potential with a pure magnetic background has a local minimum only when two Abelian components H_{\mu\nu}^3 and H_{\mu\nu}^8 of color magnetic field are orthogonal to each other. The non-trivial structure of the effective action has important implication in estimating quark-gluon production rate and p_T-distribution in quark-gluon plasma. In general the production rate depends on three independent Casimir invariants, in particular, it depends on the relative orientation between chromoelectric fields.Comment: 6 pages, 3 figures (9 pages in published version

Universal Robotic Gripper based on the Jamming of Granular Material

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multi-fingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate a completely different approach to a universal gripper. Individual fingers are replaced by a single mass of granular material that, when pressed onto a target object, flows around it and conforms to its shape. Upon application of a vacuum the granular material contracts and hardens quickly to pinch and hold the object without requiring sensory feedback. We find that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight. We show that the operating principle is the ability of granular materials to transition between an unjammed, deformable state and a jammed state with solid-like rigidity. We delineate three separate mechanisms, friction, suction and interlocking, that contribute to the gripping force. Using a simple model we relate each of them to the mechanical strength of the jammed state. This opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.Comment: 10 pages, 7 figure

Fluctuations of the number of participants and binary collisions in AA interactions at fixed centrality in the Glauber approach

In the framework of the classical Glauber approach, the analytical expressions for the variance of the number of wounded nucleons and binary collisions in AA interactions at a given centrality are presented. Along with the optical approximation term, they contain additional contact terms arising only in the case of nucleus-nucleus collisions. The magnitude of the additional contributions, e.g., for PbPb collisions at SPS energies, is larger than the contribution of the optical approximation at some values of the impact parameter. The sum of the additional contributions is in good agreement with the results of independent Monte Carlo simulations of this process. Due to these additional terms, the variance of the total number of participants for peripheral PbPb collisions and the variance of the number of collisions at all values of the impact parameter exceed several multiples of the Poisson variances. The correlator between the numbers of participants in colliding nuclei at fixed centrality is also analytically calculated.Comment: updated version; as published by Phys. Rev.

Coulomb effects on growth of instabilities in asymmetric nuclear matter

We study the effects of the Coulomb interaction on the growth of unstable modes in asymmetric nuclear matter. In order to compare with previous calculations we use a semiclassical approach based on the linearized Vlasov equation. Moreover, a quantum calculation is performed within the R.P.A.. The Coulomb effects are a slowing down of the growth and the occurrence of a minimal wave vector for the onset of the instabilities. The quantum corrections cause a further decrease of the growth rates.Comment: 10 pages, revtex, 4 ps figures, to appear in Phys. Rev. C e-mail: [email protected], [email protected]

Hydrodynamic Description of Granular Convection

We present a hydrodynamic model that captures the essence of granular dynamics in a vibrating bed. We carry out the linear stability analysis and uncover the instability mechanism that leads to the appearance of the convective rolls via a supercritical bifurcation of a bouncing solution. We also explicitly determine the onset of convection as a function of control parameters and confirm our picture by numerical simulations of the continuum equations.Comment: 14 pages, RevTex 11pages + 3 pages figures (Type csh